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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::registration::ConvergenceCriteria类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p><b><a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html" title="ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...">ConvergenceCriteria</a></b> represents an abstract base class for different convergence criteria used in registration loops.  
 <a href="classpcl_1_1registration_1_1_convergence_criteria.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="convergence__criteria_8h_source.html">convergence_criteria.h</a>&gt;</code></p>
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类 pcl::registration::ConvergenceCriteria 继承关系图:</div>
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<area href="classpcl_1_1registration_1_1_default_convergence_criteria.html" title="DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the fol..." alt="pcl::registration::DefaultConvergenceCriteria&lt; Scalar &gt;" shape="rect" coords="334,56,658,80"/>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html">ConvergenceCriteria</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html">ConvergenceCriteria</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html#a407ba197cd3e6cfc300dabc6762e679b">ConvergenceCriteria</a> ()</td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html#aff67157db93f77f43cca661caf72f9f3">~ConvergenceCriteria</a> ()</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html#a1e00d17dc1eacda73a2f7524706e486f">hasConverged</a> ()=0</td></tr>
<tr class="memdesc:a1e00d17dc1eacda73a2f7524706e486f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if convergence has been reached. Pure virtual. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html#ae2e124161abf399febcbe3f3b4ff68b4">operator bool</a> ()</td></tr>
<tr class="memdesc:ae2e124161abf399febcbe3f3b4ff68b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Bool operator. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><b><a class="el" href="classpcl_1_1registration_1_1_convergence_criteria.html" title="ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...">ConvergenceCriteria</a></b> represents an abstract base class for different convergence criteria used in registration loops. </p>
<p>This should be used as part of an Iterative Closest Point (ICP)-like method, to verify if the algorithm has reached convergence.</p>
<p>Typical convergence criteria that could inherit from this include:</p>
<ul>
<li>a maximum number of iterations has been reached</li>
<li>the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold)</li>
<li>the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold</li>
</ul>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="convergence__criteria_8h_source.html">convergence_criteria.h</a></li>
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